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심영보(Youngbo Shim),김윤정(Yunjeong Kim),민경원(Kyungwon Min),이선영(Seonyoung Lee),손행선(Haengseon Son) 한국자동차공학회 2020 한국자동차공학회 부문종합 학술대회 Vol.2020 No.7
There are many curved roads as well as straight roads in urban environments. The autonomous vehicle should drive at an appropriate speed on such a curved road, but it will be more comfortable for passengers riding in the car. In this paper, we propose a velocity profile with a sharp curve in urban. First, a maximum velocity is generated considering the curvature of the global path, and a smooth velocity profiling planning is performed based on the generated maximum velocity. The experiment results show the validity of the proposed method.
정밀지도 기반 경로계획을 위한 정밀지도 에디터에 관한 연구
심영보(Youngbo Shim),김윤정(Yunjeong Kim),민경원(Kyungwon Min),이선영(Seonyoung Lee),손행선(Haengseon Son) 한국자동차공학회 2020 한국자동차공학회 부문종합 학술대회 Vol.2020 No.7
Similar to a typical driver driving to a destination using a navigation map, autonomous vehicles use the HD Map(High Definition Map) to search for the optimal route to the destination. Unlike navigation maps, the HD Map has lane-level data, and in addition, information such as traffic lights, road markings, and signs is provided with very accurate location information. For the autonomous driving technology of level 4 or higher, the importance of the HD Map is rising, and the National Geographic Information Institute in Korea and private companies are collaborating to build the HD Map. However, the HD Map that has been constructed until now needs to be modified according to the method used the path planning. In this paper, for the HD Map based path planning, we introduce the editor that automatically edits the map, and it appears as a result of the path planning experiment on the automatically edited the map.